2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献_第5页

Discrete element simulation of mechanics properties of single edge notched hydrogel-a new material for soft robot and sensor * 单刃缺口水凝胶力学性能的离散元模拟——一种用于软机器人和传感器的新材料*

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584203

Tianyun Gao, Didi Li, Guoqing Jin, Haiyi Liang, Runhuai Yang

{"title":"Discrete element simulation of mechanics properties of single edge notched hydrogel-a new material for soft robot and sensor *","authors":"Tianyun Gao, Didi Li, Guoqing Jin, Haiyi Liang, Runhuai Yang","doi":"10.1109/WRC-SARA.2018.8584203","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584203","url":null,"abstract":"Hydrogels have been widely studied in the field of soft robots in recent years due to their good biocompatibility, controllable electrical properties and mechanical properties, and hydrogels are expected to be promising materials for manufacturing soft robots and sensors. Here, we focus on the simulation of the mechanical properties of hydrogels. A novel simulation model based on discrete element method (DEM) is presented to simulate the fracture properties of notched hydrogels. The method used particle model and wall model to simulate the hydrogel and the force applied to it. Elastic module, viscous module and bonding module were applied between each particle to simulate the real microstructure inside hydrogel. Here, we used regular arrangement particles to simulate the homogeneous hydrogel, and staggered arrangement particles to simulate the inhomogeneous hydrogel. A single edge notched tension specimen, as a typical specimen for testing fracture properties is used to simulate the real broken. The morphology of hydrogels during the single edge notched hydrogel was simulated in detail, and the force-displacement curve, stress-strain curve and strain energy was calculated from the method. The results of the simulation show that the fracture properties were quite different while the arrangement of the particle was changed and the irregular arrangement particles had a better fracture property which was consistent to the real experiment that the fracture property of inhomogeneous hydrogel was better than homogeneous hydrogel. The applicability, simplicity and flexibility of the new approach were demonstrated and the results show that the model has potential in study the movement and the mechanical response for the research of soft materials and robotics.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133321264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Flight Trajectory Simulation of Robotic Throwing Shuttlecock 机器人抛毽子飞行轨迹仿真

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584236

Fuwen Hu, Qinghua Liu, Jingli Cheng, Yunhua He

{"title":"Flight Trajectory Simulation of Robotic Throwing Shuttlecock","authors":"Fuwen Hu, Qinghua Liu, Jingli Cheng, Yunhua He","doi":"10.1109/WRC-SARA.2018.8584236","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584236","url":null,"abstract":"The theme of the ABU Asia-Pacific Robot Contest in 2018 is to throw the shuttlecocks through the provided rings at height. The shuttlecock is an object made of cotton balls or filled with rice husks, symbolizing prosperity and happiness. For the design and control of robotic throwing mechanism, two aspects of research need to be carried out: selection of initial throwing parameters, aerodynamic behavior of shuttlecocks. Firstly, the influence of the initial throwing speed and the throwing angle on the throwing distance was studied through the kinematics simulation analysis, and the design of the throwing trajectory was further studied. In addition, the influence of air resistance on the flight trajectory was also studied. Finally, for the precise control parameters of the throwing mechanism, the rigid-flexible coupled multi-body dynamics simulation analysis was performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) virtual prototype technology. The shuttlecocks throwing experiments conducted on the playing field showed that the design and simulation analysis of the throwing trajectory played a good guiding role in the design and development of the shuttlecocks throwing robot.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127083062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Topology Synthesis, Prototype, and Test of an Industrial Robot Gripper with 3D Printed Compliant Fingers for Handling of Fragile Objects 工业机器人抓手的拓扑综合、原型和测试与3D打印柔性手指处理易碎物体

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584239

Chih-Hsing Liu, Ta-Lun Chen, Tzu-Yang Pai, Chen-Hua Chiu, Wei-Geng Peng, Mao-Cheng Hsu

引用次数: 4

An efficient layered robot path planning approach based on MOPSO algorithm 基于MOPSO算法的高效分层机器人路径规划方法

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584231

Han Wu, Huiliang Shang

引用次数: 1

Analysis and Research on Multi-Joint Power-Assisted Exoskeleton* 多关节助力外骨骼的分析与研究*

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584200

Feng Zhou, Min Chen, Yue-hong Dai, Kaiyu Qin

{"title":"Analysis and Research on Multi-Joint Power-Assisted Exoskeleton*","authors":"Feng Zhou, Min Chen, Yue-hong Dai, Kaiyu Qin","doi":"10.1109/WRC-SARA.2018.8584200","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584200","url":null,"abstract":"In the control of exoskeleton system, the man-machine interaction can realize the auxiliary power effect of human host. In this paper, we study the interaction between human body simulation experiment and exoskeleton structure, and perceive the human body through the exoskeleton. And drive the motor to achieve synchronous action, so as to achieve the effect of assistance. This paper adopts the fuzzy adaptive PD/PID control algorithm to carry out comparative analysis by optimizing the theoretical analysis and experimental simulation of control, improving the synchronous effect of exoskeleton movement, and realizing the effective follow-up of exoskeleton. The basic components of exoskeleton robot include: mechanical structure, actuator, control system, sensing system, energy system and wearer. The bionic mechanical structure is in contact with the human body to share the weight of the human body or to enhance the human body’s motion ability; the actuator adopts the motor to help promote the movement of the mechanical structure; the control system processes the information of the sensing system and sends out the control information; the sensing system perceives the human body motion information; the energy system provides the energy source for the exoskeleton robot movement. Using Adams and Matlab simulation in joint position, dynamic analysis, optimization structure design. The power output of exoskeleton is approximately synchronous with human motion, its power can effectively assist human body, the man-machine interaction performance result shows well which improve the following control effect of the machine with human motion.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131256531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Kinect-based Human Body Tracking System Control of Medical Care Service Robot 基于运动学的医疗服务机器人人体跟踪系统控制

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584246

Yanran Long, Yulin Xu, Zixuan Xiao, Zheping Shen

引用次数: 1

Motion Control for Biped Robot via DDPG-based Deep Reinforcement Learning 基于ddpg深度强化学习的双足机器人运动控制

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584227

Xiaoguang Wu, Shaowei Liu, Tianci Zhang, Lei Yang, Yanhui Li, Tingjin Wang

引用次数: 21

Research and Realization of Robot Experiment System Based on Virtuality and Actuality 基于虚拟与现实的机器人实验系统研究与实现

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584251

Zelin Yang, Tongtong Li, Tao Yang, Yanbo Wang, Tao Deng

引用次数: 0

Target Recognition and Optimal Grasping Based on Deep Learning 基于深度学习的目标识别与最优抓取

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584228

Qingquan Lin, Dan Chen

引用次数: 4

Multi-moving target detection based on the combination of three frame difference algorithm and background difference algorithm 基于三帧差分算法和背景差分算法相结合的多运动目标检测

2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584221

Hong He, S. Ma, Lei Sun

{"title":"Multi-moving target detection based on the combination of three frame difference algorithm and background difference algorithm","authors":"Hong He, S. Ma, Lei Sun","doi":"10.1109/WRC-SARA.2018.8584221","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584221","url":null,"abstract":"Aiming at the problem of ghosting detected by two-frame different method and the defects existed in the independent detection by inter-frame difference method and background difference method, three-frame difference method is proposed in this paper. That is, the different result between frame and frame can be calculated. The outline of the moving target is roughly marked to solve the problem of ghosting. At the same time, we combine the three frame difference method and the background difference method to get the algorithm of this paper. The algorithm uses a mixed Gaussian method to establish a background model and modify the variance update so that the background model fits with the real background and performs morphological processing to extract the moving target. The experimental results show that the combination of the three-frame difference method and the background difference method can effectively remove the noise and ghosting, which avoids inaccurate object extraction, caused by the background difference method and avoids the incomplete moving object of the inter-frame difference method.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121072198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4